add_scene_graph_command.cpp

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#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <boost/serialization/access.hpp>
#include <boost/serialization/nvp.hpp>
#include <boost/serialization/shared_ptr.hpp>
#include <memory>
#include <string>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
#include <tesseract_environment/commands/add_scene_graph_command.h>
#include <tesseract_common/utils.h>
#include <tesseract_scene_graph/graph.h>
#include <tesseract_scene_graph/joint.h>
 
namespace tesseract_environment
{
AddSceneGraphCommand::AddSceneGraphCommand() : Command(CommandType::ADD_SCENE_GRAPH) {}
 
AddSceneGraphCommand::AddSceneGraphCommand(const tesseract_scene_graph::SceneGraph& scene_graph, std::string prefix)
  : Command(CommandType::ADD_SCENE_GRAPH)
  , scene_graph_(scene_graph.clone())
  , joint_(nullptr)
  , prefix_(std::move(prefix))
{
}
 
AddSceneGraphCommand::AddSceneGraphCommand(const tesseract_scene_graph::SceneGraph& scene_graph,
                                           const tesseract_scene_graph::Joint& joint,
                                           std::string prefix)
  : Command(CommandType::ADD_SCENE_GRAPH)
  , scene_graph_(scene_graph.clone())
  , joint_(std::make_shared<tesseract_scene_graph::Joint>(joint.clone()))
  , prefix_(std::move(prefix))
{
}
 
const std::shared_ptr<const tesseract_scene_graph::SceneGraph>& AddSceneGraphCommand::getSceneGraph() const
{
  return scene_graph_;
}
const std::shared_ptr<const tesseract_scene_graph::Joint>& AddSceneGraphCommand::getJoint() const { return joint_; }
const std::string& AddSceneGraphCommand::getPrefix() const { return prefix_; }
 
bool AddSceneGraphCommand::operator==(const AddSceneGraphCommand& rhs) const
{
  bool equal = true;
  equal &= Command::operator==(rhs);
  equal &= tesseract_common::pointersEqual(scene_graph_, rhs.scene_graph_);
  equal &= tesseract_common::pointersEqual(joint_, rhs.joint_);
  equal &= prefix_ == rhs.prefix_;
  return equal;
}
bool AddSceneGraphCommand::operator!=(const AddSceneGraphCommand& rhs) const { return !operator==(rhs); }
 
template <class Archive>
void AddSceneGraphCommand::serialize(Archive& ar, const unsigned int /*version*/)
{
  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Command);
  ar& BOOST_SERIALIZATION_NVP(scene_graph_);
  ar& BOOST_SERIALIZATION_NVP(joint_);
  ar& BOOST_SERIALIZATION_NVP(prefix_);
}
}  // namespace tesseract_environment
 
#include <tesseract_common/serialization.h>
TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_environment::AddSceneGraphCommand)
BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_environment::AddSceneGraphCommand)